Agra or Jaipur - where to go

I am working in Delhi and got 2 days free before I fly back to home, so I asked my co-workers where to go for these 2 days and got a mixed opinion about Agra and Jaipur, now I know that I got 2 options but I don't know where to go for these 2 days?

I wanted to visit a place with history and adding more to my confusion both the places have great historical importance, please suggest which is a better place to visit.